MatrixConventionsC.h

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/*
// Copyright 2015 Sensics, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//        http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
*/

#ifndef INCLUDED_MatrixConventionsC_h_GUID_6FC7A4C6_E6C5_4A96_1C28_C3D21B909681
#define INCLUDED_MatrixConventionsC_h_GUID_6FC7A4C6_E6C5_4A96_1C28_C3D21B909681

/* Internal Includes */
#include <osvr/Util/Export.h>
#include <osvr/Util/APIBaseC.h>
#include <osvr/Util/StdInt.h>
#include <osvr/Util/Pose3C.h>
#include <osvr/Util/ReturnCodesC.h>

/* Library/third-party includes */
/* none */

/* Standard includes */
/* none */

OSVR_EXTERN_C_BEGIN

typedef uint16_t OSVR_MatrixConventions;

#ifndef OSVR_DOXYGEN_EXTERNAL

typedef enum OSVR_MatrixMasks {
    OSVR_MATRIX_MASK_ROWMAJOR = 0x1,
    OSVR_MATRIX_MASK_ROWVECTORS = 0x2,
    OSVR_MATRIX_MASK_LHINPUT = 0x4,
    OSVR_MATRIX_MASK_UNSIGNEDZ = 0x8
} OSVR_MatrixMasks;
#endif

typedef enum OSVR_MatrixOrderingFlags {
    OSVR_MATRIX_COLMAJOR = 0x0,
    OSVR_MATRIX_ROWMAJOR = OSVR_MATRIX_MASK_ROWMAJOR
} OSVR_MatrixOrderingFlags;

typedef enum OSVR_MatrixVectorFlags {
    OSVR_MATRIX_COLVECTORS = 0x0,
    OSVR_MATRIX_ROWVECTORS = OSVR_MATRIX_MASK_ROWVECTORS
} OSVR_MatrixVectorFlags;

typedef enum OSVR_ProjectionMatrixInputFlags {
    OSVR_MATRIX_RHINPUT = 0x0,
    OSVR_MATRIX_LHINPUT = OSVR_MATRIX_MASK_LHINPUT

} OSVR_ProjectionMatrixInputFlags;

typedef enum OSVR_ProjectionMatrixZFlags {
    OSVR_MATRIX_SIGNEDZ = 0x0,
    OSVR_MATRIX_UNSIGNEDZ = OSVR_MATRIX_MASK_UNSIGNEDZ
} OSVR_ProjectionMatrixZFlags; /* end of matrix flags group */

enum {
    OSVR_MATRIX_SIZE = 16
};

OSVR_UTIL_EXPORT OSVR_ReturnCode osvrPose3ToMatrixd(
    OSVR_Pose3 const *pose, OSVR_MatrixConventions flags, double *mat);

OSVR_UTIL_EXPORT OSVR_ReturnCode osvrPose3ToMatrixf(
    OSVR_Pose3 const *pose, OSVR_MatrixConventions flags, float *mat);
OSVR_EXTERN_C_END

#ifdef __cplusplus

inline OSVR_ReturnCode osvrPose3ToMatrix(OSVR_Pose3 const *pose,
                                         OSVR_MatrixConventions flags,
                                         double *mat) {
    return osvrPose3ToMatrixd(pose, flags, mat);
}

inline OSVR_ReturnCode osvrPose3ToMatrix(OSVR_Pose3 const *pose,
                                         OSVR_MatrixConventions flags,
                                         float *mat) {
    return osvrPose3ToMatrixf(pose, flags, mat);
}

template <typename Scalar>
inline OSVR_ReturnCode osvrPose3ToMatrix(OSVR_Pose3 const *pose,
                                         OSVR_MatrixConventions flags,
                                         Scalar mat[OSVR_MATRIX_SIZE]) {
    return osvrPose3ToMatrix(pose, flags, &(mat[0]));
}
template <typename Scalar>
inline OSVR_ReturnCode osvrPose3ToMatrix(OSVR_Pose3 const &pose,
                                         OSVR_MatrixConventions flags,
                                         Scalar mat[OSVR_MATRIX_SIZE]) {
    return osvrPose3ToMatrix(&pose, flags, &(mat[0]));
}

#endif

#endif